Consolidated Balance Sheet Components - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Balance Sheet Related Disclosures [Abstract]
Accrued royalty obligations	$ 1,564	$ 707
Accrued legal expenses	1,046	814
Accrued tax liabilities	3,050	1,470
Accrued professional services	3,464	1,791
Accrued clinical trials and studies	2,029	236
Purchases of property and equipment included in accrued expenses	2,424	343
Operating lease liabilities	7,140	0
Other	4,986	1,817
Total accrued expenses	$ 25,703	$ 7,178